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Automated Non-Prehensile Magnetic Micromanipulation in Presence of Spatially Varying Flow Field

[+] Author Affiliations
Pranav Kulkarni, Ajay D. Thakur, Atul Thakur

Indian Institute of Technology Patna, Patna, India

Aditya Kumar

Indian Institute of Technology Guwahati, Guwahati, India

Paper No. DETC2016-60568, pp. V004T08A024; 8 pages
  • ASME 2016 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference
  • Volume 4: 21st Design for Manufacturing and the Life Cycle Conference; 10th International Conference on Micro- and Nanosystems
  • Charlotte, North Carolina, USA, August 21–24, 2016
  • Conference Sponsors: Design Engineering Division, Computers and Information in Engineering Division
  • ISBN: 978-0-7918-5014-5
  • Copyright © 2016 by ASME


Precise control of micro-level objects for cell sorting, cell manipulation, targeted drug delivery etc., still remains a great challenge in the field of bio-medical engineering. Even though magnetic actuation has emerged as a harmless, high actuation speed, low cost alternative for micromanipulation of cells, the throughput of the system is still low because of the undesirable effects of flow fields and sensing noise. This paper reports a parametrized feedback policy to perform non-prehensile magnetic micromanipulation [9] to push the target cell to specified goal location under the influence of flow field, sensing noise, drag and magnetic forces. We report an optimization based parameter tuning approach to reduce the transport time using developed feedback policy. Flow field and image processing noise present in the system was experimentally measured and incorporated into the developed models and simulations. We have tuned the feedback policy parameter to reduce the travel time via simulation experiments.

Copyright © 2016 by ASME



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